Abstract
This paper presents a 2 DOF elbow prosthesis design and its control, which includes developing the mechanism, adapting a torsional spring for the flexo-extension movement, and a crown pinion transmission with two torsional springs pronosupination movement. In addition, this prototype has planned an elbow joint control method. The control has been obtained using the kinematic of a pendulum with a torsional spring, where the model comes with a set of dynamic simulations to determine how feasible the proposed mechanism is, and the torque needed for daily activities performance. The results show the physical and kinematic characteristics of the designed system.
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